Manipulator for manipulating a pouring pipe into position beneath a metallurgical vessel

Abstract

A manipulator is disclosed for manipulating a pouring pipe from a remote position wherein it is oriented substantially horizontally, to a position beneath a metallurgical vessel wherein the pouring pipe is oriented substantially vertically. The manipulator includes a supporting frame which can be transferred on laterally extending track and longitudinally extending tracks from a remote location to a location adjacent the metallurgical vessel. The manipulator is adapted to detachably engage the pouring pipe such that the pouring pipe can be guided along a guide path which preferably includes curved portions. With this arrangement, the manipulator is operable to manipulate the pouring pipe in an accurate manner and without danger to operating personnel into position beneath the metallurgical vessel and into a continuous casting mold, even when space for such manipulation is narrow.

What is claimed: 
     
       1. An apparatus for manipulating a pouring pipe into and out of a predetermined position beneath a metallurgical vessel, comprising: a supporting structure;   connecting means for detachably connecting the pouring pipe to said supporting structure;   guiding means for forcing said connecting means to move along a guide path from a rearward position toward a forwardly located position adjacent which the metallurgical vessel is adapted to be positioned, while the pouring pipe, when connected to said supporting structure, is transferred from a substantially horizontal position to a substantially vertical position;   wherein said guiding means comprises an endless element mounted to said supporting structure for rotation relative thereto, said endless element extending along said guide path; and   wherein said connecting means is mounted to said endless element.   
     
     
       2. An apparatus as recited in claim 1, wherein said guiding means further comprises a front sprocket rotatably mounted to said supporting structure, a rear sprocket rotatably mounted to said supporting structure rearwardly of said front sprocket, and means for connecting at least one of said front and rear sprockets to a drive; and   said endless element comprises an endless chain trained about said front and rear sprockets.   
     
     
       3. An apparatus as recited in claim 2, wherein said front sprocket is located downwardly relative to said rear sprocket that said endless chain slopes downwardly and forwardly.   
     
     
       4. An apparatus as recited in claim 1, wherein said guiding means further comprises an elongated auxiliary guide track mounted to said supporting structure and extending forwardly and rearwardly, and an auxiliary steering lever having a first end mounted to said connecting means and a second end slidably mounted for movement along said auxiliary guide track.   
     
     
       5. An apparatus as recited in claim 4, wherein said auxiliary guide track and said guide path diverge from one another as they extend forwardly.   
     
     
       6. An apparatus as recited in claim 5, wherein said auxiliary guide track is curved such that an angle of divergence between said guide path and said auxiliary guide track varies from 5 degrees to 30 degrees.   
     
     
       7. An apparatus as recited in claim 1, wherein said connecting means comprises a connecting element mounted for movement relative to said supporting structure, and an engagement element slidably mounted to said connecting element for movement between a first position in which it is adapted to engage with the pouring pipe and a second position in which it is adapted to release the pouring pipe.   
     
     
       8. An apparatus as recited in claim 7, further comprising switch means for slidably switching said engaging element between said first and second positions.   
     
     
       9. An apparatus as recited in claim 8, wherein said switching means comprises an elongated rod rotatably mounted to said supporting structure adjacent said guide path, means for rotating said elongated rod, and pushing/pulling means for pushing said engaging element toward said first position when said rod is rotated in a first direction and for pulling said engaging element toward said second position when said rod is rotated in a second direction.   
     
     
       10. An apparatus as recited in claim 9, wherein a trunnion member is adapted to be mounted to the pouring pipe and has a multi-sided hole therein; and   said engaging element comprises a multi-sided bolt which is shaped complementary to said multi-sided hole, has an annular groove formed thereabout, and slidably extends into said multi-sided hole.   
     
     
       11. An apparatus as recited in claim 10, wherein said pushing/pulling means comprises at least one gripper plate fixed to and extending radially away from said elongated rod and adapted to engage in said annular groove formed in said bolt.   
     
     
       12. An apparatus as recited in claim 11, wherein said at least one gripper comprises a front gripper plate mounted to said rod adjacent said front sprocket and a rear gripper plate mounted to said rod adjacent said rear sprocket.   
     
     
       13. An apparatus as recited in claim 9, wherein said rotating means comprises a linkage mounted eccentrically to said elongated rod, and a rotatable switch operatively connected to said linkage.   
     
     
       14. An apparatus for manipulating a pouring pipe into and out of a predetermined position beneath a metallurgical vessel, comprising: a supporting structure;   connecting means for detachably connecting the pouring pipe to said supporting structure;   guiding means for forcing said connecting means to move along a guide path from a rearward position toward a forwardly located position adjacent which the metallurgical vessel is adapted to be positioned, while the pouring pipe, when connected to said supporting structure, is transferred from a substantially horizontal position to a substantially vertical position;   wherein said guiding means comprises a forwardly and rearwardly extending main guide track, and a moving means for forcing said connecting means to move longitudinally along said main guide track;   wherein said moving means comprises a piston/cylinder unit operatively connected to said connecting means; and   wherein said main guide track is sloped downwardly and forwardly.   
     
     
       15. An apparatus as recited in claim 14, wherein said guiding means further comprises an elongated auxiliary guide track mounted to said supporting structure and extending forwardly and rearwardly, and an auxiliary steering lever having a first end mounted to said connecting means and a second end slidably mounted for movement along said auxiliary guide track.   
     
     
       16. An apparatus as recited in claim 15, wherein said auxiliary guide track and said main guide track diverge from one another as they extend forwardly.   
     
     
       17. An apparatus as recited in claim 16, wherein said auxiliary guide track is curved such that an angle of divergence between said main guide track and said auxiliary guide track varies from 5 degrees to 30 degrees.   
     
     
       18. An apparatus as recited in claim 14, wherein said connecting means comprises an engaging element operatively mounted to said main guide track for lateral movement relative thereto between a first position in which said engaging element is adapted to engage with the pouring pipe and a second position in which said engaging element is adapted to release the pouring pipe.   
     
     
       19. An apparatus as recited in claim 18, wherein said connecting means further comprises a main sliding element laterally slidably mounted in said main guide track and mounted to said engaging element for movement therewith along said main guide track, and a connecting element mounted to said main sliding element and to said moving means.   
     
     
       20. An apparatus as recited in claim 1, wherein said connecting means comprises a connecting element, and a forked member pivotably mounted to said connecting element and having a forked end adapted to engage with the pouring pipe.   
     
     
       21. An apparatus as recited in claim 20, wherein said connecting means further comprises a bearing ring adapted to be fixed about the pouring pipe, and a supporting bolt protruding outwardly from said bearing ring, said supporting bolt being engageable in said forked end of said forked member.   
     
     
       22. An apparatus as recited in claim 1, further comprising transfer means for transferring said supporting structure from a remote location to a location adjacent the metallurgical vessel.   
     
     
       23. An apparatus as recited in claim 22, wherein said transfer means is operable for transferring said supporting structure laterally with respect to a longitudinal direction of said guide path and longitudinally with respect to the longitudinal direction of said guide path.   
     
     
       24. An apparatus as recited in claim 23, wherein said transfer means comprises a carriage, a longitudinal transfer track mounted to one of said carriage and said supporting structure, a plurality of longitudinal transfer rollers rotatably mounted to the other of said carriage and said supporting structure, a lateral transfer track, and a plurality of lateral transfer rollers, one of said lateral transfer track and said plurality of lateral transfer rollers being mounted to said carriage and the other of said lateral transfer tracks and said plurality of lateral transfer rollers being adapted to be mounted in fixed relation relative to the metallurgical vessel.   
     
     
       25. An apparatus as recited in claim 23, further comprising means for interchanging the pouring pipe from a position in which it is connected adjacent a forward end of the guide path to the predetermined position beneath the metallurgical vessel.   
     
     
       26. An apparatus as recited in claim 25, wherein said interchanging means comprises a supporting arm mounted relative to the metallurgical vessel and having a holding means thereon for holding the pouring pipe.   
     
     
       27. An apparatus as recited in claim 26, wherein said holding means comprises a groove formed in an end of said supporting arm, said groove being adapted to receive a trunnion extending from the pouring pipe.